cmake_minimum_required(VERSION 3.8)
project(custom_talker)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
#1--添加依赖包
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rclcpp_components REQUIRED)

include_directories(include)

#2--将组件生成共享库
#add_executable(talker src/talker.cpp)替换
add_library(talker_component SHARED src/talker.cpp)
target_include_directories(talker_component PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(talker_component PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
ament_target_dependencies(
  talker_component
  "rclcpp"
  "std_msgs"
  "rclcpp_components"
)
#3--必须注册组件
rclcpp_components_register_nodes(talker_component "custom_talker::Talker")

#4--安装组件
# install(TARGETS talker
#   DESTINATION lib/${PROJECT_NAME})
install(TARGETS
  talker_component
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
